我想做一个单片机控制的小车 -

#ifndef __STC15F2K60S2_H_
#define __STC15F2K60S2_H_
/////////////////////////////////////////////////
//注意: STC15W4K32S4系列的芯片,上电后所有与PWM相关的IO口均为
// 高阻态,需将这些口设置为准双向口或强推挽模式方可正常使用
//相关IO: P0.6/P0.7/P1.6/P1.7/P2.1/P2.2
// P2.3/P2.7/P3.7/P4.2/P4.4/P4.5
/////////////////////////////////////////////////
/////////////////////////////////////////////////
//包含本头文件后,不用另外再包含"REG51.H"
//内核特殊功能寄存器 // 复位值描述
sfr ACC = 0xE0; //0000,0000 累加器Accumulator
sfr B = 0xF0; //0000,0000 B寄存器
sfr PSW = 0xD0; //0000,0000 程序状态字
sbit CY = PSW^7;
sbit AC = PSW^6;
sbit F0 = PSW^5;
sbit RS1 = PSW^4;
sbit RS0 = PSW^3;
sbit OV = PSW^2;
sbit P = PSW^0;
sfr SP = 0x81; //0000,0111 堆栈指针
sfr DPL = 0x82; //0000,0000 数据指针低字节
sfr DPH = 0x83; //0000,0000 数据指针高字节
//I/O 口特殊功能寄存器
sfr P0 = 0x80; //1111,1111 端口0
sbit P00 = P0^0;
sbit P01 = P0^1;
sbit P02 = P0^2;
sbit P03 = P0^3;
sbit P04 = P0^4;
sbit P05 = P0^5;
sbit P06 = P0^6;
sbit P07 = P0^7;
sfr P1 = 0x90; //1111,1111 端口1
sbit P10 = P1^0;
sbit P11 = P1^1;
sbit P12 = P1^2;
sbit P13 = P1^3;
sbit P14 = P1^4;
sbit P15 = P1^5;
sbit P16 = P1^6;
sbit P17 = P1^7;
sfr P2 = 0xA0; //1111,1111 端口2
sbit P20 = P2^0;
sbit P21 = P2^1;
sbit P22 = P2^2;
sbit P23 = P2^3;
sbit P24 = P2^4;
sbit P25 = P2^5;
sbit P26 = P2^6;
sbit P27 = P2^7;
sfr P3 = 0xB0; //1111,1111 端口3
sbit P30 = P3^0;
sbit P31 = P3^1;
sbit P32 = P3^2;
sbit P33 = P3^3;
sbit P34 = P3^4;
sbit P35 = P3^5;
sbit P36 = P3^6;
sbit P37 = P3^7;
sfr P4 = 0xC0; //1111,1111 端口4
sbit P40 = P4^0;
sbit P41 = P4^1;
sbit P42 = P4^2;
sbit P43 = P4^3;
sbit P44 = P4^4;
sbit P45 = P4^5;
sbit P46 = P4^6;
sbit P47 = P4^7;
sfr P5 = 0xC8; //xxxx,1111 端口5
sbit P50 = P5^0;
sbit P51 = P5^1;
sbit P52 = P5^2;
sbit P53 = P5^3;
sbit P54 = P5^4;
sbit P55 = P5^5;
sbit P56 = P5^6;
sbit P57 = P5^7;
sfr P6 = 0xE8; //0000,0000 端口6
sbit P60 = P6^0;
sbit P61 = P6^1;
sbit P62 = P6^2;
sbit P63 = P6^3;
sbit P64 = P6^4;
sbit P65 = P6^5;
sbit P66 = P6^6;
sbit P67 = P6^7;
sfr P7 = 0xF8; //0000,0000 端口7
sbit P70 = P7^0;
sbit P71 = P7^1;
sbit P72 = P7^2;
sbit P73 = P7^3;
sbit P74 = P7^4;
sbit P75 = P7^5;
sbit P76 = P7^6;
sbit P77 = P7^7;
sfr P0M0 = 0x94; //0000,0000 端口0模式寄存器0
sfr P0M1 = 0x93; //0000,0000 端口0模式寄存器1
sfr P1M0 = 0x92; //0000,0000 端口1模式寄存器0
sfr P1M1 = 0x91; //0000,0000 端口1模式寄存器1
sfr P2M0 = 0x96; //0000,0000 端口2模式寄存器0
sfr P2M1 = 0x95; //0000,0000 端口2模式寄存器1
sfr P3M0 = 0xB2; //0000,0000 端口3模式寄存器0
sfr P3M1 = 0xB1; //0000,0000 端口3模式寄存器1
sfr P4M0 = 0xB4; //0000,0000 端口4模式寄存器0
sfr P4M1 = 0xB3; //0000,0000 端口4模式寄存器1
sfr P5M0 = 0xCA; //0000,0000 端口5模式寄存器0
sfr P5M1 = 0xC9; //0000,0000 端口5模式寄存器1
sfr P6M0 = 0xCC; //0000,0000 端口6模式寄存器0
sfr P6M1 = 0xCB; //0000,0000 端口6模式寄存器1
sfr P7M0 = 0xE2; //0000,0000 端口7模式寄存器0
sfr P7M1 = 0xE1; //0000,0000 端口7模式寄存器1
//系统管理特殊功能寄存器
sfr PCON = 0x87; //0001,0000 电源控制寄存器
sfr AUXR = 0x8E; //0000,0000 辅助寄存器
sfr AUXR1 = 0xA2; //0000,0000 辅助寄存器1
sfr P_SW1 = 0xA2; //0000,0000 外设端口切换寄存器1
sfr CLK_DIV = 0x97; //0000,0000 时钟分频控制寄存器
sfr BUS_SPEED = 0xA1; //xx10,x011 总线速度控制寄存器
sfr P1ASF = 0x9D; //0000,0000 端口1模拟功能配置寄存器
sfr P_SW2 = 0xBA; //0xxx,x000 外设端口切换寄存器
//中断特殊功能寄存器
sfr IE = 0xA8; //0000,0000 中断控制寄存器
sbit EA = IE^7;
sbit ELVD = IE^6;
sbit EADC = IE^5;
sbit ES = IE^4;
sbit ET1 = IE^3;
sbit EX1 = IE^2;
sbit ET0 = IE^1;
sbit EX0 = IE^0;
sfr IP = 0xB8; //0000,0000 中断优先级寄存器
sbit PPCA = IP^7;
sbit PLVD = IP^6;
sbit PADC = IP^5;
sbit PS = IP^4;
sbit PT1 = IP^3;
sbit PX1 = IP^2;
sbit PT0 = IP^1;
sbit PX0 = IP^0;
sfr IE2 = 0xAF; //0000,0000 中断控制寄存器2
sfr IP2 = 0xB5; //xxxx,xx00 中断优先级寄存器2
sfr INT_CLKO = 0x8F; //0000,0000 外部中断与时钟输出控制寄存器
//定时器特殊功能寄存器
sfr TCON = 0x88; //0000,0000 T0/T1控制寄存器
sbit TF1 = TCON^7;
sbit TR1 = TCON^6;
sbit TF0 = TCON^5;
sbit TR0 = TCON^4;
sbit IE1 = TCON^3;
sbit IT1 = TCON^2;
sbit IE0 = TCON^1;
sbit IT0 = TCON^0;
sfr TMOD = 0x89; //0000,0000 T0/T1模式寄存器
sfr TL0 = 0x8A; //0000,0000 T0低字节
sfr TL1 = 0x8B; //0000,0000 T1低字节
sfr TH0 = 0x8C; //0000,0000 T0高字节
sfr TH1 = 0x8D; //0000,0000 T1高字节
sfr T4T3M = 0xD1; //0000,0000 T3/T4模式寄存器
sfr T3T4M = 0xD1; //0000,0000 T3/T4模式寄存器
sfr T4H = 0xD2; //0000,0000 T4高字节
sfr T4L = 0xD3; //0000,0000 T4低字节
sfr T3H = 0xD4; //0000,0000 T3高字节
sfr T3L = 0xD5; //0000,0000 T3低字节
sfr T2H = 0xD6; //0000,0000 T2高字节
sfr T2L = 0xD7; //0000,0000 T2低字节
sfr WKTCL = 0xAA; //0000,0000 掉电唤醒定时器低字节
sfr WKTCH = 0xAB; //0000,0000 掉电唤醒定时器高字节
sfr WDT_CONTR = 0xC1; //0000,0000 看门狗控制寄存器
//串行口特殊功能寄存器
sfr SCON = 0x98; //0000,0000 串口1控制寄存器
sbit SM0 = SCON^7;
sbit SM1 = SCON^6;
sbit SM2 = SCON^5;
sbit REN = SCON^4;
sbit TB8 = SCON^3;
sbit RB8 = SCON^2;
sbit TI = SCON^1;
sbit RI = SCON^0;
sfr SBUF = 0x99; //xxxx,xxxx 串口1数据寄存器
sfr S2CON = 0x9A; //0000,0000 串口2控制寄存器
sfr S2BUF = 0x9B; //xxxx,xxxx 串口2数据寄存器
sfr S3CON = 0xAC; //0000,0000 串口3控制寄存器
sfr S3BUF = 0xAD; //xxxx,xxxx 串口3数据寄存器
sfr S4CON = 0x84; //0000,0000 串口4控制寄存器
sfr S4BUF = 0x85; //xxxx,xxxx 串口4数据寄存器
sfr SADDR = 0xA9; //0000,0000 从机地址寄存器
sfr SADEN = 0xB9; //0000,0000 从机地址屏蔽寄存器
//ADC 特殊功能寄存器
sfr ADC_CONTR = 0xBC; //0000,0000 A/D转换控制寄存器
sfr ADC_RES = 0xBD; //0000,0000 A/D转换结果高8位
sfr ADC_RESL = 0xBE; //0000,0000 A/D转换结果低2位
//SPI 特殊功能寄存器
sfr SPSTAT = 0xCD; //00xx,xxxx SPI状态寄存器
sfr SPCTL = 0xCE; //0000,0100 SPI控制寄存器
sfr SPDAT = 0xCF; //0000,0000 SPI数据寄存器
//IAP/ISP 特殊功能寄存器
sfr IAP_DATA = 0xC2; //0000,0000 EEPROM数据寄存器
sfr IAP_ADDRH = 0xC3; //0000,0000 EEPROM地址高字节
sfr IAP_ADDRL = 0xC4; //0000,0000 EEPROM地址第字节
sfr IAP_CMD = 0xC5; //xxxx,xx00 EEPROM命令寄存器
sfr IAP_TRIG = 0xC6; //0000,0000 EEPRPM命令触发寄存器
sfr IAP_CONTR = 0xC7; //0000,x000 EEPROM控制寄存器
//PCA/PWM 特殊功能寄存器
sfr CCON = 0xD8; //00xx,xx00 PCA控制寄存器
sbit CF = CCON^7;
sbit CR = CCON^6;
sbit CCF2 = CCON^2;
sbit CCF1 = CCON^1;
sbit CCF0 = CCON^0;
sfr CMOD = 0xD9; //0xxx,x000 PCA 工作模式寄存器
sfr CL = 0xE9; //0000,0000 PCA计数器低字节
sfr CH = 0xF9; //0000,0000 PCA计数器高字节
sfr CCAPM0 = 0xDA; //0000,0000 PCA模块0的PWM寄存器
sfr CCAPM1 = 0xDB; //0000,0000 PCA模块1的PWM寄存器
sfr CCAPM2 = 0xDC; //0000,0000 PCA模块2的PWM 寄存器
sfr CCAP0L = 0xEA; //0000,0000 PCA模块0的捕捉/比较寄存器低字节
sfr CCAP1L = 0xEB; //0000,0000 PCA模块1的捕捉/比较寄存器低字节
sfr CCAP2L = 0xEC; //0000,0000 PCA模块2的捕捉/比较寄存器低字节
sfr PCA_PWM0 = 0xF2; //xxxx,xx00 PCA模块0的PWM寄存器
sfr PCA_PWM1 = 0xF3; //xxxx,xx00 PCA模块1的PWM寄存器
sfr PCA_PWM2 = 0xF4; //xxxx,xx00 PCA模块1的PWM寄存器
sfr CCAP0H = 0xFA; //0000,0000 PCA模块0的捕捉/比较寄存器高字节
sfr CCAP1H = 0xFB; //0000,0000 PCA模块1的捕捉/比较寄存器高字节
sfr CCAP2H = 0xFC; //0000,0000 PCA模块2的捕捉/比较寄存器高字节
//比较器特殊功能寄存器
sfr CMPCR1 = 0xE6; //0000,0000 比较器控制寄存器1
sfr CMPCR2 = 0xE7; //0000,0000 比较器控制寄存器2
//增强型PWM波形发生器特殊功能寄存器
sfr PWMCFG = 0xf1; //x000,0000 PWM配置寄存器
sfr PWMCR = 0xf5; //0000,0000 PWM控制寄存器
sfr PWMIF = 0xf6; //x000,0000 PWM中断标志寄存器
sfr PWMFDCR = 0xf7; //xx00,0000 PWM外部异常检测控制寄存器
//如下特殊功能寄存器位于扩展RAM区域
//访问这些寄存器,需先将P_SW2的BIT7设置为1,才可正常读写
#define PWMC (*(unsigned int volatile xdata *)0xfff0)
#define PWMCH (*(unsigned char volatile xdata *)0xfff0)
#define PWMCL (*(unsigned char volatile xdata *)0xfff1)
#define PWMCKS (*(unsigned char volatile xdata *)0xfff2)
#define PWM2T1 (*(unsigned int volatile xdata *)0xff00)
#define PWM2T1H (*(unsigned char volatile xdata *)0xff00)
#define PWM2T1L (*(unsigned char volatile xdata *)0xff01)
#define PWM2T2 (*(unsigned int volatile xdata *)0xff02)
#define PWM2T2H (*(unsigned char volatile xdata *)0xff02)
#define PWM2T2L (*(unsigned char volatile xdata *)0xff03)
#define PWM2CR (*(unsigned char volatile xdata *)0xff04)
#define PWM3T1 (*(unsigned int volatile xdata *)0xff10)
#define PWM3T1H (*(unsigned char volatile xdata *)0xff10)
#define PWM3T1L (*(unsigned char volatile xdata *)0xff11)
#define PWM3T2 (*(unsigned int volatile xdata *)0xff12)
#define PWM3T2H (*(unsigned char volatile xdata *)0xff12)
#define PWM3T2L (*(unsigned char volatile xdata *)0xff13)
#define PWM3CR (*(unsigned char volatile xdata *)0xff14)
#define PWM4T1 (*(unsigned int volatile xdata *)0xff20)
#define PWM4T1H (*(unsigned char volatile xdata *)0xff20)
#define PWM4T1L (*(unsigned char volatile xdata *)0xff21)
#define PWM4T2 (*(unsigned int volatile xdata *)0xff22)
#define PWM4T2H (*(unsigned char volatile xdata *)0xff22)
#define PWM4T2L (*(unsigned char volatile xdata *)0xff23)
#define PWM4CR (*(unsigned char volatile xdata *)0xff24)
#define PWM5T1 (*(unsigned int volatile xdata *)0xff30)
#define PWM5T1H (*(unsigned char volatile xdata *)0xff30)
#define PWM5T1L (*(unsigned char volatile xdata *)0xff31)
#define PWM5T2 (*(unsigned int volatile xdata *)0xff32)
#define PWM5T2H (*(unsigned char volatile xdata *)0xff32)
#define PWM5T2L (*(unsigned char volatile xdata *)0xff33)
#define PWM5CR (*(unsigned char volatile xdata *)0xff34)
#define PWM6T1 (*(unsigned int volatile xdata *)0xff40)
#define PWM6T1H (*(unsigned char volatile xdata *)0xff40)
#define PWM6T1L (*(unsigned char volatile xdata *)0xff41)
#define PWM6T2 (*(unsigned int volatile xdata *)0xff42)
#define PWM6T2H (*(unsigned char volatile xdata *)0xff42)
#define PWM6T2L (*(unsigned char volatile xdata *)0xff43)
#define PWM6CR (*(unsigned char volatile xdata *)0xff44)
#define PWM7T1 (*(unsigned int volatile xdata *)0xff50)
#define PWM7T1H (*(unsigned char volatile xdata *)0xff50)
#define PWM7T1L (*(unsigned char volatile xdata *)0xff51)
#define PWM7T2 (*(unsigned int volatile xdata *)0xff52)
#define PWM7T2H (*(unsigned char volatile xdata *)0xff52)
#define PWM7T2L (*(unsigned char volatile xdata *)0xff53)
#define PWM7CR (*(unsigned char volatile xdata *)0xff54)
/////////////////////////////////////////////////
#endif

复制代码

#include "STC15W201S.h"
#include "intrins.h"
typedef unsigned char BYTE;
typedef unsigned int WORD;
sbit D1 = P1^4; //用于控制左边发光二极管
sbit D2 = P3^7; //用于控制右边发光二极管
bit busy;
bit l9110s_1 ;
bit l9110s_2 ;
bit R9110s_1 ;
bit R9110s_2 ;
unsigned char func;
void Delay500ms() //@11.0592MHz
{
unsigned char i, j, k;
_nop_();
_nop_();
i = 2;
j = 2;
k = 2;
do
{
do
{
while (--k);
} while (--j);
} while (--i);
}
BYTE usart_recv;
/*----------------------------
UART 中断处理函数
-----------------------------*/
void Uart() interrupt 4 using 1
{
if (RI)
{
RI = 0; //??RI?
usart_recv = SBUF;
}
if (TI)
{
TI = 0; //??TI?
busy = 0; //????
}
}
//串口初始化为9600波特率
void Usart_init(void)
{
SCON = 0x50;
T2L = 0xE0;
T2H = 0xFE;
AUXR |= 0x01;
AUXR |= 0x4;
AUXR |= 0x10;
ES = 1;
EA = 1;
}
//电机PWM方式驱动
void PWM_Init(void) //100??@11.0592MHz
{
AUXR |= 0x80;
TMOD = 0x02;
TL0 = 0x00;
TH0 = 0x00;
TF0 = 0;
TR0 = 1;
ET0 = 1;
EA = 1;
}
unsigned char R_PWM,L_PWM;
unsigned char count;
void timer0_int (void) interrupt 1
{
count++;
if(count > 100)
{
P32 = l9110s_1;
P33 = l9110s_2;
P54 = R9110s_1;
P55 = R9110s_2;
count = 0;
}
if(count == L_PWM)
{
P54 = 0;
P55 = 0;
}
if(count == R_PWM)
{
P32 = 0;
P33 = 0;
}
}
void SendData(BYTE dat)
{
while (busy); //???????????
busy = 1;
SBUF = dat; //????UART?????
}
//电机控制，注意电机驱动芯片9110两个控制端只能有一个为高电平，
//若同时为高电平则芯片内部短路，危险，极易损坏芯片。
void stop(void);
void front(void);
void back(void);
void right(void);
void left(void);
//停止
void stop(void)
{
l9110s_1 = 0;
l9110s_2 = 0;
R9110s_1 = 0;
R9110s_2 = 0;
}
//前进
void front(void)
{
l9110s_1 = 0;
l9110s_2 = 1;
R9110s_1 = 0;
R9110s_2 = 1;
}
//倒退
void back(void)
{
l9110s_1 = 1;
l9110s_2 = 0;
R9110s_1 = 1;
R9110s_2 = 0;
}
//右转
void right(void)
{
l9110s_1 = 1;
l9110s_2 = 0;
R9110s_1 = 0;
R9110s_2 = 1;
}
//左转
void left(void)
{
l9110s_1 = 0;
l9110s_2 = 1;
R9110s_1 = 1;
R9110s_2 = 0;
}
//循迹避障蓝牙控制功能选择
unsigned char func_sel(void)
{
unsigned long c;
unsigned char i;
i = 0;
c = 0;
D1 = D2 = 1;
stop();
Delay500ms();Delay500ms();Delay500ms();Delay500ms();
while((P15 == 0)&& (c <0x3ffff))
{
c++;
if((c > 0xffff) && (c < 0x1ffff))
{
D1 = 0;
i = 1;
}
if((c > 0x1ffff) && (c < 0x2ffff))
{
D1 = 1; D2 = 0;
i = 2;
}
if((c > 0x2ffff) && (c < 0x3ffff))
{
D1 = 0; D2 = 0;
i = 3;
}
}
if(c < 0xffff)
{
return func;
}
return i;
}
void main(void)
{
BYTE last_recv;
P32 = P33 = P54 = P55 = 0;
l9110s_1 = l9110s_2 = R9110s_1 = R9110s_2 = 0;
R_PWM = 99;
L_PWM = 99;
P3M1 = 0;
P3M0 = 0x0C;
P5M1 = 0;
P5M0 = 0x30;
P1M1 = 0xf;
P1M0 = 0;
IP =0x10;
PWM_Init();
Usart_init();
D1 = D2 = 1;
P15 = 1;
func = 1;
while(func == 1) //功能1:循迹
{
while((P11 == 1)&& (P13 == 0))
{
right(); D2 = 0;D1 = 1;
}
while((P13 == 1)&&(P11 == 0))
{
left();D1 = 0;D2 =1;
}
while((P13 == 0)&&(P11 == 0))
{
front();D1 = 0;D2 =0;
}
front();Delay500ms();
if(P15 == 0)
{
func = func_sel();
}
}
while(func == 2) //功能2：避障
{
if(P15 == 0)
{
func = func_sel();
}
while((P12 == 1)&& (P10 == 0))
{
left(); D2 = 0;D1 = 1;
}
while((P12 == 0)&& (P10 == 1))
{
right(); D2 = 1;D1 = 0;
}
while((P12 == 1)&& (P10 == 1))
{
front(); D2 = 0;D1 = 0;
}
while((P12 == 0)&& (P10 == 0))
{
back(); D2 = 1;D1 = 1;
}
}
while(func == 3) //功能3：蓝牙遥控
{
if(P15 == 0)
{
func = func_sel();
}
if(last_recv != usart_recv)
{
last_recv = usart_recv;
switch(usart_recv)
{
case 0x14:
case 0x15:
case 0x16:
case 0x17:
case 0x18:
case 0x19:
case 0x1a:
case 0x1b:
case 0x1c:
case 0x1d:
case 0x1e:
case 0x1f:
front();
R_PWM = 69+(usart_recv-0x10)*2;
L_PWM = 69+(usart_recv-0x10)*2;
D1 = D2 = 0;
break;
case 0x24:
case 0x25:
case 0x26:
case 0x27:
case 0x28:
case 0x29:
case 0x2a:
case 0x2b:
case 0x2c:
case 0x2d:
case 0x2e:
case 0x2f:
back();
R_PWM = 69+(usart_recv-0x20)*2;
L_PWM = 69+(usart_recv-0x20)*2;
D1 = D2 = 1;
break;
case 0x34:
case 0x35:
case 0x36:
case 0x37:
case 0x38:
case 0x39:
case 0x3a:
case 0x3b:
case 0x3c:
case 0x3d:
case 0x3e:
case 0x3f:
left();
R_PWM = 69+(usart_recv-0x30)*2;
L_PWM = 69+(usart_recv-0x30)*2;
D1 = 0; D2 = 1;
break;
case 0x44:
case 0x45:
case 0x46:
case 0x47:
case 0x48:
case 0x49:
case 0x4a:
case 0x4b:
case 0x4c:
case 0x4d:
case 0x4e:
case 0x4f:
right();
R_PWM = 69+(usart_recv-0x40)*2;
L_PWM = 69+(usart_recv-0x40)*2;
D1 = 1; D2 = 0;
break;
case 0x54:
case 0x55:
case 0x56:
case 0x57:
case 0x58:
case 0x59:
case 0x5a:
case 0x5b:
case 0x5c:
case 0x5d:
case 0x5e:
case 0x5f:
front();
R_PWM = 99;
L_PWM = 100-(usart_recv-0x50)*2;
D1 = 1; D2 = 0;
break;
case 0x64:
case 0x65:
case 0x66:
case 0x67:
case 0x68:
case 0x69:
case 0x6a:
case 0x6b:
case 0x6c:
case 0x6d:
case 0x6e:
case 0x6f:
front();
R_PWM = 100-(usart_recv-0x60)*2;
L_PWM = 99;
D1 = 0; D2 = 1;
break;
case 0x74:
case 0x75:
case 0x76:
case 0x77:
case 0x78:
case 0x79:
case 0x7a:
case 0x7b:
case 0x7c:
case 0x7d:
case 0x7e:
case 0x7f:
back();
R_PWM = 99;
L_PWM = 100-(usart_recv-0x70)*2;
D1 = 1; D2 = 1;
break;
case 0x84:
case 0x85:
case 0x86:
case 0x87:
case 0x88:
case 0x89:
case 0x8a:
case 0x8b:
case 0x8c:
case 0x8d:
case 0x8e:
case 0x8f:
back();
R_PWM = 100-(usart_recv-0x80)*2;
L_PWM = 99;
D1 = 1; D2 = 1;
break;
case 0:
stop();
D1 = 1; D2 = 1;
break;
}
}
}
}

复制代码